<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.6"/>
<title>easykf-2.04: /home/fix_jer/SVN/easykf_trunk/trunk/easykf-2.04/src/ekf_types.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { searchBox.OnSelectItem(0); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td style="padding-left: 0.5em;">
   <div id="projectname">easykf-2.04
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.6 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li><a href="examples.html"><span>Examples</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
      <li><a href="globals.html"><span>File&#160;Members</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Files</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(8)"><span class="SelectionMark">&#160;</span>Macros</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(9)"><span class="SelectionMark">&#160;</span>Pages</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_68267d1309a1af8e8297ef4c3efbcdba.html">src</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">ekf_types.h</div>  </div>
</div><!--header-->
<div class="contents">
<a href="ekf__types_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/* ekf_types.h</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> * Copyright (C) 2011-2014 Jeremy Fix</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * This program is free software; you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * the Free Software Foundation; either version 3 of the License, or (at</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * your option) any later version.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * This program is distributed in the hope that it will be useful, but</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * General Public License for more details.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * </span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> * along with this program; if not, write to the Free Software</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#ifndef EKF_TYPES_H</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define EKF_TYPES_H</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_vector.h&gt;</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="preprocessor">#include &lt;gsl/gsl_matrix.h&gt;</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="ukf__math_8h.html">ukf_math.h</a>&quot;</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keyword">namespace </span>ekf</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;{</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;  <span class="keyword">class </span>EvolutionNoise;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;</div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html">   39</a></span>&#160;  <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;  {</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html#a9b71dc086b83e78c78f6258ce19fafb4">   45</a></span>&#160;    <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a> *<a class="code" href="structekf_1_1ekf__param.html#a9b71dc086b83e78c78f6258ce19fafb4">evolution_noise</a>;</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html#a931255569a953be75868b7ef098ff310">   50</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structekf_1_1ekf__param.html#a931255569a953be75868b7ef098ff310">observation_noise</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html#afc3c7b95fe943c99c49e7b0c5703de68">   55</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="structekf_1_1ekf__param.html#afc3c7b95fe943c99c49e7b0c5703de68">prior_pk</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;</div>
<div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html#a1246cf99fd3c8a31199c74c2ebc96574">   60</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structekf_1_1ekf__param.html#a1246cf99fd3c8a31199c74c2ebc96574">n</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;</div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html#a1430eac7209095599a396000fc31ec8c">   65</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structekf_1_1ekf__param.html#a1430eac7209095599a396000fc31ec8c">no</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__param.html#a8e3a67547cde4646e17689a669fb25bc">   70</a></span>&#160;    <span class="keywordtype">bool</span> <a class="code" href="structekf_1_1ekf__param.html#a8e3a67547cde4646e17689a669fb25bc">observation_gradient_is_diagonal</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  } <a class="code" href="structekf_1_1ekf__param.html">ekf_param</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html">   74</a></span>&#160;  <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a13fc45f72e07e8396866ae3796095282">   79</a></span>&#160;    gsl_vector * <a class="code" href="structekf_1_1ekf__state.html#a13fc45f72e07e8396866ae3796095282">xk</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;</div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#af12586ca49febf7db7c50cd1153c9e33">   84</a></span>&#160;    gsl_vector * <a class="code" href="structekf_1_1ekf__state.html#af12586ca49febf7db7c50cd1153c9e33">xkm</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;</div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#ab7e6965a9cd8b85424f9a0f1aedc2fb7">   89</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#ab7e6965a9cd8b85424f9a0f1aedc2fb7">Pxk</a>;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div>
<div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#aee938384595b322d411277e1dda54d2e">   94</a></span>&#160;    gsl_matrix *<a class="code" href="structekf_1_1ekf__state.html#aee938384595b322d411277e1dda54d2e">Fxk</a>;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;</div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">   99</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a70ebe0b19856b1846cb3a1500478824e">  104</a></span>&#160;    gsl_vector * <a class="code" href="structekf_1_1ekf__state.html#a70ebe0b19856b1846cb3a1500478824e">yk</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div>
<div class="line"><a name="l00109"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#afed1bd13d00d799ebe5e3d7d7fbb51ae">  109</a></span>&#160;    gsl_vector * <a class="code" href="structekf_1_1ekf__state.html#afed1bd13d00d799ebe5e3d7d7fbb51ae">ino_yk</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a48db34937430d2388e89c34a454533a3">  114</a></span>&#160;    gsl_matrix *<a class="code" href="structekf_1_1ekf__state.html#a48db34937430d2388e89c34a454533a3">Hyk</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div>
<div class="line"><a name="l00119"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#ae25dcdc684b5048c1c2d692e7d0a6c04">  119</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#ae25dcdc684b5048c1c2d692e7d0a6c04">Rn</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;</div>
<div class="line"><a name="l00124"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a1c60d18be170aa3c2c5cf14964d18fc7">  124</a></span>&#160;    gsl_matrix *<a class="code" href="structekf_1_1ekf__state.html#a1c60d18be170aa3c2c5cf14964d18fc7">Kk</a>;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div>
<div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#afe5d2d9fddcfacbfcc6e12d309771743">  129</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#afe5d2d9fddcfacbfcc6e12d309771743">temp_n_n</a>;</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">  130</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">temp_n_1</a>;</div>
<div class="line"><a name="l00131"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a350cc6da2951c80850bcd32de6766e36">  131</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#a350cc6da2951c80850bcd32de6766e36">temp_no_no</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#ac7e9f6cb1df0e658941fd38ee12712f4">  132</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#ac7e9f6cb1df0e658941fd38ee12712f4">temp_n_no</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#a1a9bed9ae078cd39f59bf1f7336d06cf">  133</a></span>&#160;    gsl_matrix * <a class="code" href="structekf_1_1ekf__state.html#a1a9bed9ae078cd39f59bf1f7336d06cf">temp_2_n_n</a>;</div>
<div class="line"><a name="l00134"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#ac7734ea76c5973de7f4e76ea8d8757d8">  134</a></span>&#160;    gsl_vector * <a class="code" href="structekf_1_1ekf__state.html#ac7734ea76c5973de7f4e76ea8d8757d8">temp_no</a>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structekf_1_1ekf__state.html#abe2839dd3805e4dd56c613227788606f">  139</a></span>&#160;    gsl_vector * <a class="code" href="structekf_1_1ekf__state.html#abe2839dd3805e4dd56c613227788606f">params</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  } <a class="code" href="structekf_1_1ekf__state.html">ekf_state</a>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionNoise.html">  148</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionNoise.html#ab81cba204320db6f28479ab8b33ac8d8">  151</a></span>&#160;    <span class="keywordtype">double</span> <a class="code" href="classekf_1_1EvolutionNoise.html#ab81cba204320db6f28479ab8b33ac8d8">_initial_value</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionNoise.html#a8db04b04e6523d58c6118f171b02ab63">  153</a></span>&#160;  <a class="code" href="classekf_1_1EvolutionNoise.html#a8db04b04e6523d58c6118f171b02ab63">EvolutionNoise</a>(<span class="keywordtype">double</span> initial_value) : <a class="code" href="classekf_1_1EvolutionNoise.html#ab81cba204320db6f28479ab8b33ac8d8">_initial_value</a>(initial_value) {};</div>
<div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionNoise.html#a9513f65f9a322f8ffcbf2c568526dd15">  154</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classekf_1_1EvolutionNoise.html#a9513f65f9a322f8ffcbf2c568526dd15">init</a>(<a class="code" href="structekf_1_1ekf__param.html">ekf_param</a> &amp;p, <a class="code" href="structekf_1_1ekf__state.html">ekf_state</a> &amp;s)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      gsl_matrix_set_identity(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      gsl_matrix_scale(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>, <a class="code" href="classekf_1_1EvolutionNoise.html#ab81cba204320db6f28479ab8b33ac8d8">_initial_value</a>);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    }</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classekf_1_1EvolutionNoise.html#aaac5a89c8474b327c8b4cf22217e220a">updateEvolutionNoise</a>(<a class="code" href="structekf_1_1ekf__param.html">ekf_param</a> &amp;p, <a class="code" href="structekf_1_1ekf__state.html">ekf_state</a> &amp;s) = 0;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  };</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;</div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionAnneal.html">  166</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classekf_1_1EvolutionAnneal.html">EvolutionAnneal</a> : <span class="keyword">public</span> <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a></div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordtype">double</span> _decay, _lower_bound;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00170"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionAnneal.html#a44c0b9f64db67ac07041c68a67b3e285">  170</a></span>&#160;  <a class="code" href="classekf_1_1EvolutionAnneal.html#a44c0b9f64db67ac07041c68a67b3e285">EvolutionAnneal</a>(<span class="keywordtype">double</span> initial_value, <span class="keywordtype">double</span> decay, <span class="keywordtype">double</span> lower_bound) : <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a>(initial_value),</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      _decay(decay),</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      _lower_bound(lower_bound)</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      { };</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;</div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionAnneal.html#adfc225881678f8b47f6711468fd538b3">  175</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classekf_1_1EvolutionAnneal.html#adfc225881678f8b47f6711468fd538b3">updateEvolutionNoise</a>(<a class="code" href="structekf_1_1ekf__param.html">ekf_param</a> &amp;p, <a class="code" href="structekf_1_1ekf__state.html">ekf_state</a> &amp;s)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordflow">for</span>(<span class="keywordtype">int</span> i = 0 ; i &lt; p.<a class="code" href="structekf_1_1ekf__param.html#a1246cf99fd3c8a31199c74c2ebc96574">n</a> ; ++i)</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        {</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;          <span class="keywordflow">for</span>(<span class="keywordtype">int</span> j = 0 ; j &lt; p.<a class="code" href="structekf_1_1ekf__param.html#a1246cf99fd3c8a31199c74c2ebc96574">n</a> ; ++j)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;              <span class="keywordflow">if</span>(i == j)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                gsl_matrix_set(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>, i, i, <a class="code" href="namespaceukf_1_1math.html#af4ef51ae6ef8c8d19eba957802834d4d">ukf::math::max</a>(_decay * gsl_matrix_get(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>,i,i),_lower_bound));</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;                gsl_matrix_set(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>, i, j, 0.0);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;            }</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    }</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  };</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;</div>
<div class="line"><a name="l00193"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionRLS.html">  193</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classekf_1_1EvolutionRLS.html">EvolutionRLS</a> : <span class="keyword">public</span> <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;  {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="keywordtype">double</span> _decay;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionRLS.html#a0b5b4cfc3d7568b49a561416776da36c">  197</a></span>&#160;  <a class="code" href="classekf_1_1EvolutionRLS.html#a0b5b4cfc3d7568b49a561416776da36c">EvolutionRLS</a>(<span class="keywordtype">double</span> initial_value, <span class="keywordtype">double</span> decay) : <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a>(initial_value), _decay(decay)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    {</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordflow">if</span>(<a class="code" href="namespaceukf_1_1math.html#a341c355f5fddc026efa8589de2f59a50">ukf::math::cmp_equal</a>(_decay, 0.0))</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        printf(<span class="stringliteral">&quot;Forgetting factor should not be null !!\n&quot;</span>);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    };</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;</div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionRLS.html#a4f5f974e4bca143207a9085e1fead375">  203</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classekf_1_1EvolutionRLS.html#a4f5f974e4bca143207a9085e1fead375">updateEvolutionNoise</a>(<a class="code" href="structekf_1_1ekf__param.html">ekf_param</a> &amp;p, <a class="code" href="structekf_1_1ekf__state.html">ekf_state</a> &amp;s)</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      gsl_matrix_memcpy(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>, s.<a class="code" href="structekf_1_1ekf__state.html#ab7e6965a9cd8b85424f9a0f1aedc2fb7">Pxk</a>);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      gsl_matrix_scale(s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>, 1.0 / _decay - 1.0);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;    }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  };</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionRobbinsMonro.html">  213</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classekf_1_1EvolutionRobbinsMonro.html">EvolutionRobbinsMonro</a> : <span class="keyword">public</span> <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  {</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keywordtype">double</span> _alpha;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionRobbinsMonro.html#ad34c1fb7b1ee0305d5e8b15462c19c49">  217</a></span>&#160;  <a class="code" href="classekf_1_1EvolutionRobbinsMonro.html#ad34c1fb7b1ee0305d5e8b15462c19c49">EvolutionRobbinsMonro</a>(<span class="keywordtype">double</span> initial_value, <span class="keywordtype">double</span> alpha) : <a class="code" href="classekf_1_1EvolutionNoise.html">EvolutionNoise</a>(initial_value),</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      _alpha(alpha)</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      { };</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;</div>
<div class="line"><a name="l00221"></a><span class="lineno"><a class="line" href="classekf_1_1EvolutionRobbinsMonro.html#a34b4a3a6a4a94781b6289570c801b2c3">  221</a></span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classekf_1_1EvolutionRobbinsMonro.html#a34b4a3a6a4a94781b6289570c801b2c3">updateEvolutionNoise</a>(<a class="code" href="structekf_1_1ekf__param.html">ekf_param</a> &amp;p, <a class="code" href="structekf_1_1ekf__state.html">ekf_state</a> &amp;s)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="comment">// Compute Kk * ino_yk</span></div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      gsl_matrix_view mat_view = gsl_matrix_view_array(s.<a class="code" href="structekf_1_1ekf__state.html#afed1bd13d00d799ebe5e3d7d7fbb51ae">ino_yk</a>-&gt;data, p.<a class="code" href="structekf_1_1ekf__param.html#a1430eac7209095599a396000fc31ec8c">no</a>, 1);</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      gsl_blas_dgemm(CblasNoTrans, CblasNoTrans, 1.0, s.<a class="code" href="structekf_1_1ekf__state.html#a1c60d18be170aa3c2c5cf14964d18fc7">Kk</a>, &amp;mat_view.matrix, 0.0, s.<a class="code" href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">temp_n_1</a>);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      <span class="comment">// Compute : Rv = (1 - alpha) Rv + alpha . (Kk * ino_yk) * (Kk * ino_yk)^T</span></div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      gsl_blas_dgemm(CblasNoTrans, CblasTrans, _alpha, s.<a class="code" href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">temp_n_1</a>, s.<a class="code" href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">temp_n_1</a>, (1.0 - _alpha),s.<a class="code" href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">Rv</a>);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;    }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  };</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;}</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="preprocessor">#endif // EKF_TYPES_H</span></div>
<div class="ttc" id="classekf_1_1EvolutionNoise_html_ab81cba204320db6f28479ab8b33ac8d8"><div class="ttname"><a href="classekf_1_1EvolutionNoise.html#ab81cba204320db6f28479ab8b33ac8d8">ekf::EvolutionNoise::_initial_value</a></div><div class="ttdeci">double _initial_value</div><div class="ttdef"><b>Definition:</b> ekf_types.h:151</div></div>
<div class="ttc" id="classekf_1_1EvolutionRobbinsMonro_html_a34b4a3a6a4a94781b6289570c801b2c3"><div class="ttname"><a href="classekf_1_1EvolutionRobbinsMonro.html#a34b4a3a6a4a94781b6289570c801b2c3">ekf::EvolutionRobbinsMonro::updateEvolutionNoise</a></div><div class="ttdeci">void updateEvolutionNoise(ekf_param &amp;p, ekf_state &amp;s)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:221</div></div>
<div class="ttc" id="classekf_1_1EvolutionNoise_html_a8db04b04e6523d58c6118f171b02ab63"><div class="ttname"><a href="classekf_1_1EvolutionNoise.html#a8db04b04e6523d58c6118f171b02ab63">ekf::EvolutionNoise::EvolutionNoise</a></div><div class="ttdeci">EvolutionNoise(double initial_value)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:153</div></div>
<div class="ttc" id="classekf_1_1EvolutionNoise_html"><div class="ttname"><a href="classekf_1_1EvolutionNoise.html">ekf::EvolutionNoise</a></div><div class="ttdoc">Mother class from which the evolution noises inherit. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:148</div></div>
<div class="ttc" id="classekf_1_1EvolutionRobbinsMonro_html"><div class="ttname"><a href="classekf_1_1EvolutionRobbinsMonro.html">ekf::EvolutionRobbinsMonro</a></div><div class="ttdoc">Robbins-Monro evolution noise. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:213</div></div>
<div class="ttc" id="classekf_1_1EvolutionRobbinsMonro_html_ad34c1fb7b1ee0305d5e8b15462c19c49"><div class="ttname"><a href="classekf_1_1EvolutionRobbinsMonro.html#ad34c1fb7b1ee0305d5e8b15462c19c49">ekf::EvolutionRobbinsMonro::EvolutionRobbinsMonro</a></div><div class="ttdeci">EvolutionRobbinsMonro(double initial_value, double alpha)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:217</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html_a931255569a953be75868b7ef098ff310"><div class="ttname"><a href="structekf_1_1ekf__param.html#a931255569a953be75868b7ef098ff310">ekf::ekf_param::observation_noise</a></div><div class="ttdeci">double observation_noise</div><div class="ttdoc">Covariance of the observation noise. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:50</div></div>
<div class="ttc" id="classekf_1_1EvolutionNoise_html_aaac5a89c8474b327c8b4cf22217e220a"><div class="ttname"><a href="classekf_1_1EvolutionNoise.html#aaac5a89c8474b327c8b4cf22217e220a">ekf::EvolutionNoise::updateEvolutionNoise</a></div><div class="ttdeci">virtual void updateEvolutionNoise(ekf_param &amp;p, ekf_state &amp;s)=0</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html_a1430eac7209095599a396000fc31ec8c"><div class="ttname"><a href="structekf_1_1ekf__param.html#a1430eac7209095599a396000fc31ec8c">ekf::ekf_param::no</a></div><div class="ttdeci">int no</div><div class="ttdoc">Dimension of the output. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:65</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a73bd94df09b3ffaed5e07552e1d605db"><div class="ttname"><a href="structekf_1_1ekf__state.html#a73bd94df09b3ffaed5e07552e1d605db">ekf::ekf_state::Rv</a></div><div class="ttdeci">gsl_matrix * Rv</div><div class="ttdoc">Variance covariance of the evolution noise. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:99</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_afed1bd13d00d799ebe5e3d7d7fbb51ae"><div class="ttname"><a href="structekf_1_1ekf__state.html#afed1bd13d00d799ebe5e3d7d7fbb51ae">ekf::ekf_state::ino_yk</a></div><div class="ttdeci">gsl_vector * ino_yk</div><div class="ttdoc">Current innovations. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:109</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_ac7e9f6cb1df0e658941fd38ee12712f4"><div class="ttname"><a href="structekf_1_1ekf__state.html#ac7e9f6cb1df0e658941fd38ee12712f4">ekf::ekf_state::temp_n_no</a></div><div class="ttdeci">gsl_matrix * temp_n_no</div><div class="ttdef"><b>Definition:</b> ekf_types.h:132</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a70ebe0b19856b1846cb3a1500478824e"><div class="ttname"><a href="structekf_1_1ekf__state.html#a70ebe0b19856b1846cb3a1500478824e">ekf::ekf_state::yk</a></div><div class="ttdeci">gsl_vector * yk</div><div class="ttdoc">Current observation. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:104</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html"><div class="ttname"><a href="structekf_1_1ekf__param.html">ekf::ekf_param</a></div><div class="ttdoc">Structure holding the parameters of the statistical linearization. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:39</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html"><div class="ttname"><a href="structekf_1_1ekf__state.html">ekf::ekf_state</a></div><div class="ttdef"><b>Definition:</b> ekf_types.h:74</div></div>
<div class="ttc" id="classekf_1_1EvolutionRLS_html_a0b5b4cfc3d7568b49a561416776da36c"><div class="ttname"><a href="classekf_1_1EvolutionRLS.html#a0b5b4cfc3d7568b49a561416776da36c">ekf::EvolutionRLS::EvolutionRLS</a></div><div class="ttdeci">EvolutionRLS(double initial_value, double decay)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:197</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_ae25dcdc684b5048c1c2d692e7d0a6c04"><div class="ttname"><a href="structekf_1_1ekf__state.html#ae25dcdc684b5048c1c2d692e7d0a6c04">ekf::ekf_state::Rn</a></div><div class="ttdeci">gsl_matrix * Rn</div><div class="ttdoc">Variance covariance of the observation noise. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:119</div></div>
<div class="ttc" id="classekf_1_1EvolutionRLS_html"><div class="ttname"><a href="classekf_1_1EvolutionRLS.html">ekf::EvolutionRLS</a></div><div class="ttdoc">Forgetting type evolution noise. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:193</div></div>
<div class="ttc" id="namespaceukf_1_1math_html_af4ef51ae6ef8c8d19eba957802834d4d"><div class="ttname"><a href="namespaceukf_1_1math.html#af4ef51ae6ef8c8d19eba957802834d4d">ukf::math::max</a></div><div class="ttdeci">double max(double a, double b)</div><div class="ttdef"><b>Definition:</b> ukf_math.h:40</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_af12586ca49febf7db7c50cd1153c9e33"><div class="ttname"><a href="structekf_1_1ekf__state.html#af12586ca49febf7db7c50cd1153c9e33">ekf::ekf_state::xkm</a></div><div class="ttdeci">gsl_vector * xkm</div><div class="ttdoc">Predicted state. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:84</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a13fc45f72e07e8396866ae3796095282"><div class="ttname"><a href="structekf_1_1ekf__state.html#a13fc45f72e07e8396866ae3796095282">ekf::ekf_state::xk</a></div><div class="ttdeci">gsl_vector * xk</div><div class="ttdoc">Current estimate of the state. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:79</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html_a9b71dc086b83e78c78f6258ce19fafb4"><div class="ttname"><a href="structekf_1_1ekf__param.html#a9b71dc086b83e78c78f6258ce19fafb4">ekf::ekf_param::evolution_noise</a></div><div class="ttdeci">EvolutionNoise * evolution_noise</div><div class="ttdoc">Evolution noise type. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:45</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_afe5d2d9fddcfacbfcc6e12d309771743"><div class="ttname"><a href="structekf_1_1ekf__state.html#afe5d2d9fddcfacbfcc6e12d309771743">ekf::ekf_state::temp_n_n</a></div><div class="ttdeci">gsl_matrix * temp_n_n</div><div class="ttdoc">Temporary matrices. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:129</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a48db34937430d2388e89c34a454533a3"><div class="ttname"><a href="structekf_1_1ekf__state.html#a48db34937430d2388e89c34a454533a3">ekf::ekf_state::Hyk</a></div><div class="ttdeci">gsl_matrix * Hyk</div><div class="ttdoc">Jacobian of the observation function. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:114</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a1c60d18be170aa3c2c5cf14964d18fc7"><div class="ttname"><a href="structekf_1_1ekf__state.html#a1c60d18be170aa3c2c5cf14964d18fc7">ekf::ekf_state::Kk</a></div><div class="ttdeci">gsl_matrix * Kk</div><div class="ttdoc">Kalman gain. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:124</div></div>
<div class="ttc" id="ukf__math_8h_html"><div class="ttname"><a href="ukf__math_8h.html">ukf_math.h</a></div></div>
<div class="ttc" id="classekf_1_1EvolutionAnneal_html_a44c0b9f64db67ac07041c68a67b3e285"><div class="ttname"><a href="classekf_1_1EvolutionAnneal.html#a44c0b9f64db67ac07041c68a67b3e285">ekf::EvolutionAnneal::EvolutionAnneal</a></div><div class="ttdeci">EvolutionAnneal(double initial_value, double decay, double lower_bound)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:170</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_ac7734ea76c5973de7f4e76ea8d8757d8"><div class="ttname"><a href="structekf_1_1ekf__state.html#ac7734ea76c5973de7f4e76ea8d8757d8">ekf::ekf_state::temp_no</a></div><div class="ttdeci">gsl_vector * temp_no</div><div class="ttdef"><b>Definition:</b> ekf_types.h:134</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a350cc6da2951c80850bcd32de6766e36"><div class="ttname"><a href="structekf_1_1ekf__state.html#a350cc6da2951c80850bcd32de6766e36">ekf::ekf_state::temp_no_no</a></div><div class="ttdeci">gsl_matrix * temp_no_no</div><div class="ttdef"><b>Definition:</b> ekf_types.h:131</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a99c2af66b30729d245ba9e1195140323"><div class="ttname"><a href="structekf_1_1ekf__state.html#a99c2af66b30729d245ba9e1195140323">ekf::ekf_state::temp_n_1</a></div><div class="ttdeci">gsl_matrix * temp_n_1</div><div class="ttdef"><b>Definition:</b> ekf_types.h:130</div></div>
<div class="ttc" id="classekf_1_1EvolutionAnneal_html"><div class="ttname"><a href="classekf_1_1EvolutionAnneal.html">ekf::EvolutionAnneal</a></div><div class="ttdoc">Annealing type evolution noise. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:166</div></div>
<div class="ttc" id="classekf_1_1EvolutionAnneal_html_adfc225881678f8b47f6711468fd538b3"><div class="ttname"><a href="classekf_1_1EvolutionAnneal.html#adfc225881678f8b47f6711468fd538b3">ekf::EvolutionAnneal::updateEvolutionNoise</a></div><div class="ttdeci">void updateEvolutionNoise(ekf_param &amp;p, ekf_state &amp;s)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:175</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_aee938384595b322d411277e1dda54d2e"><div class="ttname"><a href="structekf_1_1ekf__state.html#aee938384595b322d411277e1dda54d2e">ekf::ekf_state::Fxk</a></div><div class="ttdeci">gsl_matrix * Fxk</div><div class="ttdoc">Jacobian of the evolution function. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:94</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html_afc3c7b95fe943c99c49e7b0c5703de68"><div class="ttname"><a href="structekf_1_1ekf__param.html#afc3c7b95fe943c99c49e7b0c5703de68">ekf::ekf_param::prior_pk</a></div><div class="ttdeci">double prior_pk</div><div class="ttdoc">Prior estimate of the covariance matrix. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:55</div></div>
<div class="ttc" id="classekf_1_1EvolutionNoise_html_a9513f65f9a322f8ffcbf2c568526dd15"><div class="ttname"><a href="classekf_1_1EvolutionNoise.html#a9513f65f9a322f8ffcbf2c568526dd15">ekf::EvolutionNoise::init</a></div><div class="ttdeci">void init(ekf_param &amp;p, ekf_state &amp;s)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:154</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_ab7e6965a9cd8b85424f9a0f1aedc2fb7"><div class="ttname"><a href="structekf_1_1ekf__state.html#ab7e6965a9cd8b85424f9a0f1aedc2fb7">ekf::ekf_state::Pxk</a></div><div class="ttdeci">gsl_matrix * Pxk</div><div class="ttdoc">Variance-Covariance of the state. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:89</div></div>
<div class="ttc" id="namespaceukf_1_1math_html_a341c355f5fddc026efa8589de2f59a50"><div class="ttname"><a href="namespaceukf_1_1math.html#a341c355f5fddc026efa8589de2f59a50">ukf::math::cmp_equal</a></div><div class="ttdeci">bool cmp_equal(double x, double y)</div><div class="ttdef"><b>Definition:</b> ukf_math.h:50</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_a1a9bed9ae078cd39f59bf1f7336d06cf"><div class="ttname"><a href="structekf_1_1ekf__state.html#a1a9bed9ae078cd39f59bf1f7336d06cf">ekf::ekf_state::temp_2_n_n</a></div><div class="ttdeci">gsl_matrix * temp_2_n_n</div><div class="ttdef"><b>Definition:</b> ekf_types.h:133</div></div>
<div class="ttc" id="classekf_1_1EvolutionRLS_html_a4f5f974e4bca143207a9085e1fead375"><div class="ttname"><a href="classekf_1_1EvolutionRLS.html#a4f5f974e4bca143207a9085e1fead375">ekf::EvolutionRLS::updateEvolutionNoise</a></div><div class="ttdeci">void updateEvolutionNoise(ekf_param &amp;p, ekf_state &amp;s)</div><div class="ttdef"><b>Definition:</b> ekf_types.h:203</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html_a1246cf99fd3c8a31199c74c2ebc96574"><div class="ttname"><a href="structekf_1_1ekf__param.html#a1246cf99fd3c8a31199c74c2ebc96574">ekf::ekf_param::n</a></div><div class="ttdeci">int n</div><div class="ttdoc">Number of parameters to estimate. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:60</div></div>
<div class="ttc" id="structekf_1_1ekf__param_html_a8e3a67547cde4646e17689a669fb25bc"><div class="ttname"><a href="structekf_1_1ekf__param.html#a8e3a67547cde4646e17689a669fb25bc">ekf::ekf_param::observation_gradient_is_diagonal</a></div><div class="ttdeci">bool observation_gradient_is_diagonal</div><div class="ttdoc">Is the observation gradient diagonal ? In that case, simplifications can be introduced. </div><div class="ttdef"><b>Definition:</b> ekf_types.h:70</div></div>
<div class="ttc" id="structekf_1_1ekf__state_html_abe2839dd3805e4dd56c613227788606f"><div class="ttname"><a href="structekf_1_1ekf__state.html#abe2839dd3805e4dd56c613227788606f">ekf::ekf_state::params</a></div><div class="ttdeci">gsl_vector * params</div><div class="ttdoc">Optional parameters (this must be allocated and initialized from the user side! </div><div class="ttdef"><b>Definition:</b> ekf_types.h:139</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.6
</small></address>
</body>
</html>
